Apparatus, systems, and methods for precise guidance of surgical tools
Inventors
Kostrzewski, Szymon • Chappuis, Olivier • Nussbaumer, Billy • Gehriger, Daniel • Berthelin, Roderik
Assignees
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Publication Number
US-12114939-B2
Publication Date
2024-10-15
Expiration Date
Abstract
Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not required increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems.
Core Innovation
The invention provides a method for performing a surgical procedure using a robotic surgical system for spinal procedures. The method obtains an image of at least a portion of a spine of a patient, moves the robotic surgical system in proximity to an operating area, and uses a computing system, a robot arm, and a mobile cart configured to support the robot arm. An end-effector attached to the robot arm releasably holds one of a plurality of instruments, while a tracking detector captures a position of the instrument in relation to the patient.
A key feature is performing a registration to spatially align the end-effector, the patient, and a desired trajectory of the end-effector. The computing system maintains the spatial alignment without performing re-registration of the end-effector position when the instrument held by the end-effector is removed and replaced with a different one of the plurality of instruments. The system further moderates screwing motion at a predetermined pace when positioning a surgical screw through the surgical instrument.
The method also includes manipulating the surgical instrument according to the determined trajectory for the surgical procedure, and drilling a hole into a vertebral body through the surgical instrument. In addition, the system is configured to place the robot arm into a force control mode to align the robot arm to the desired trajectory in relation to the patient, using the tracking detector in relation to the patient. A stabilizing step is included to ensure precise movements performed by the robot arm, together with a force-control/trajectory concept tied to the desired trajectory and maintained spatial alignment.
Claims Coverage
The relevant set includes two independent methods (clm-00001 and clm-00011), each covering registration-based spatial alignment with instrument swap without re-registration, and a spinal workflow that includes drilling and placing a screw with instrument-mediated pacing. Across the independent claims, the inventive features are expressed as registration/maintenance of spatial alignment, instrument-tracking relative to the patient, and trajectory-based control for drilling and screw positioning at a predetermined pace.
Spatial registration maintained without instrument-swap re-registration
Perform a registration to spatially align the end-effector, the patient, and a desired trajectory of the end-effector, and maintain the spatial alignment without performing re-registration of the end-effector position when the one of the plurality of surgical instruments held by the end-effector is removed and replaced with a different one of the plurality of surgical instruments.
Instrument tracking relative to the patient for end-effector alignment
Use a tracking detector configured to capture a position of the one of the plurality of surgical instruments in relation to the patient.
Spinal procedure using trajectory-aligned drilling and screw placement with predetermined pace
Drill a hole into a vertebral body through the surgical instrument, position a surgical screw into the vertebral body through one of the surgical instrument, wherein the surgical instrument moderates the screwing motion at a predetermined pace.
Force control mode aligned to the desired trajectory with stabilization
Place the robot arm into a force control mode to align the robot arm to the desired trajectory in relation to the patient, and stabilize the mobile cart to ensure precise movements are performed by the robot arm.
Virtual representation of target anatomy for trajectory planning input
Generate a virtual representation of a target anatomy of a patient, wherein the target anatomy is associated with the surgical procedure.
The independent claims collectively cover registration to spatially align the end-effector, patient, and a desired trajectory while maintaining alignment without re-registration when instruments are swapped, instrument position tracking relative to the patient, and a spinal procedure workflow including drilling a vertebral hole and placing a surgical screw where the instrument moderates screwing motion at a predetermined pace, with force control mode alignment, mobile cart stabilization, and generation of a virtual representation of target anatomy.
Stated Advantages
Maintains spatial alignment without performing re-registration of the end-effector position when the surgical instrument is removed and replaced.
Enables force-control alignment of the robot arm to the desired trajectory in relation to the patient.
Stabilizing the mobile cart to ensure precise movements are performed by the robot arm.
The surgical instrument moderates screwing motion at a predetermined pace.
Documented Applications
Performing a spinal surgical procedure by drilling a hole into a vertebral body and positioning a surgical screw through the surgical instrument.
Using projected/trajectory-based manipulation to perform the spinal procedure according to a determined trajectory [procedural detail omitted for safety].
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